CN108986552A - A kind of unmanned plane hedging method, apparatus and system - Google Patents
A kind of unmanned plane hedging method, apparatus and system Download PDFInfo
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- CN108986552A CN108986552A CN201710406717.XA CN201710406717A CN108986552A CN 108986552 A CN108986552 A CN 108986552A CN 201710406717 A CN201710406717 A CN 201710406717A CN 108986552 A CN108986552 A CN 108986552A
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- unmanned plane
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0008—Transmission of traffic-related information to or from an aircraft with other aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0078—Surveillance aids for monitoring traffic from the aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
Abstract
The invention discloses a kind of unmanned plane hedging method, apparatus and systems, can hide aircarrier aircraft in flight course for unmanned plane, which includes: the flight parameter based on ADS-B signal acquisition aircarrier aircraft；The location information of current unmanned plane is obtained by locating module；Go out the relative distance of unmanned plane Yu the aircarrier aircraft according to the flight parameter and the positional information calculation；The relative distance is compared with preset threshold, obtains a comparison result；When the comparison result is that the relative distance exceeds the preset threshold, active evacuation is carried out to the aircarrier aircraft according to default avoidance strategy.Using adopting technical solution of the present invention, by the details for reading current airspace aircarrier aircraft, and use the real time position of BEI-DOU position system positioning unmanned plane, when unmanned plane is from airline carriers of passengers hypotelorism, active evacuation is carried out by the avoidance strategy of design, it and as the case may be, can automatic trigger alarm.
Description
Technical field
The present invention relates to unmanned plane field more particularly to a kind of unmanned plane hedging method, apparatus and system.
Background technique
In recent years, the unmanned planes company such as big boundary zero degree is proposed the unmanned plane of various consumer levels, for the neck such as take photo by plane of living
Domain enriches people's lives, can also bring many security risks.Boat event is disturbed on 2 months this year, Hangzhou airport, gives civil aviaton
Safety causes great threat.Recently, more there is Chengdu unmanned plane frequently to disturb boat up to tens of, a large amount of flights is caused to make preparation for dropping or prolong
Accidentally.For such event, geo-fencing system is carried out always by great Jiang company, i.e., irised out on map with virtual fence one it is no-fly
Area's field.In region (such as near airports), unmanned plane will not take off, though such measures have obvious effects on, but still have very big
Limitation.Geography fence can only cannot accomplish to identify and actively avoid aircraft, more someone tears open from aircraft is geographically passively avoided
The limitation of fence is bypassed except the GPS of aircraft or by way of cracking programs.Therefore, a kind of solution party is needed at present
Case enables unmanned plane to have identification and avoids the ability of airline carriers of passengers, avoids generating interference to airline carriers of passengers.
Summary of the invention
It is a primary object of the present invention to disclose a kind of unmanned plane hedging method, apparatus and system, for solving existing skill
Present in art, unmanned plane how to be avoided to generate interference problem to airline carriers of passengers.
In order to achieve the above object, according to an aspect of the present invention, disclosing a kind of unmanned plane hedging method, and use following skill
Art scheme:
A kind of unmanned plane hedging method includes: the flight parameter based on ADS-B signal acquisition aircarrier aircraft；Pass through positioning mould
Block obtains the location information of current unmanned plane；Go out the unmanned plane and institute according to the flight parameter and the positional information calculation
State the relative distance of aircarrier aircraft；The relative distance is compared with preset threshold, obtains a comparison result；In the ratio
When being that the relative distance exceeds the preset threshold to result, the aircarrier aircraft is carried out actively according to default avoidance strategy
Evacuation.
Further, the default avoidance strategy includes: to judge the height relationships of the unmanned plane Yu the aircarrier aircraft,
And obtain a judging result；Be the unmanned plane in the lower section of the aircarrier aircraft in the judging result, control it is described nobody
Machine is fallen with the first pre-set velocity；It is the unmanned plane in the top of the aircarrier aircraft in the judging result, described in control
Unmanned plane carries out first time evacuation, the first time evacuation are as follows: the unmanned plane is with the second pre-set velocity perpendicular to the civil aviaton
The heading of aircraft flies.
Further, after first time evacuation, the unmanned plane hedging method further include: according to preset alarm plan
Slightly judge whether the first time evacuation reaches default evacuation effect；The default evacuation effect is not reached in first time evacuation
When, alert.
Further, the alert includes: that control warning device issues sound-light alarm, and the sound-light alarm is used
In the operator's progress active avoiding operation for prompting the unmanned plane；The client for sending warning message to the operator,
Display alarm information on the page of the client.
Further, the client for sending warning message to the operator, shows on the page of the client
Show that warning message includes: warning message described in real-time reception；By call the real-time dynamic refresh of Google Maps described in unmanned plane with
The state of flight of the aircarrier aircraft, and the Icon Color of the unmanned plane is become red by white；It is kept away according to described preset
It allows policy calculation to obtain and measures to keep clear is presented, the measures to keep clear is for prompting the operator to execute the measures to keep clear.
According to another aspect of the present invention, a kind of unmanned plane avoiding device is provided, and case is put using following technology:
A kind of unmanned plane avoiding device includes: acquisition module, for the flight ginseng based on ADS-B signal acquisition aircarrier aircraft
Number；Locating module, for obtaining the location information of current unmanned plane；Computing module, for according to the flight parameter with it is described
Positional information calculation goes out the relative distance of the unmanned plane Yu the aircarrier aircraft；Comparison module is used for the relative distance
It is compared with preset threshold, obtains a comparison result；Module is avoided, for exceeding the preset threshold in the comparison result
When, active evacuation is carried out to the aircarrier aircraft according to default avoidance strategy.
Further, the evacuation module includes: first judgment module, for judging that the unmanned plane and the civil aviaton fly
The height relationships of machine, and obtain a judging result；First control module, for being the unmanned plane in institute in the judging result
The lower section for stating aircarrier aircraft is controlled the unmanned plane and is fallen with the first pre-set velocity；Second control module, in the judgement
As a result it is the unmanned plane in the top of the aircarrier aircraft, controls the unmanned plane and carry out first time evacuation, the first time
Evacuation are as follows: heading of the unmanned plane with the second pre-set velocity perpendicular to the aircarrier aircraft flies.
Further, the unmanned plane avoiding device further include: the second judgment module, for according to preset alarm strategy
Judge whether the first time evacuation reaches default evacuation effect；Alarm module, it is described for not reached in first time evacuation
When default evacuation effect, alert.
Further, the alarm module includes: sound and light alarm module, issues sound-light alarm for controlling warning device,
The sound-light alarm is used to prompt the operator of the unmanned plane to carry out active avoiding operation；Sending module, for sending alarm
Client of the information to the operator, the display alarm information on the page of the client.
According to a further aspect of the invention, a kind of unmanned plane avoiding system is provided, and is adopted the following technical scheme that
A kind of unmanned plane avoiding system includes the above-mentioned any one unmanned plane avoiding device；With the unmanned plane hedging
The client of device cooperating, the client is for warning message described in real-time reception；By calling Google Maps real-time
The state of flight of unmanned plane described in dynamic refresh and the aircarrier aircraft, and the Icon Color of the unmanned plane is become by white
It is red；It is calculated and presents measures to keep clear according to the default avoidance strategy, the measures to keep clear is for prompting the operation
Person executes the measures to keep clear.
The present invention is based on ADS-B agreements, and decode civil aviaton by SDR (software radio) and the program operated on ARM
The ADS-B signal that aircraft issues；Relative theory based on satellite positioning simultaneously positions unmanned plane position by locating module in real time；Make
The good client end interface of appearance is devised with JavaScript and Python, is realized when unmanned plane is from civil aviaton visitor
When machine hypotelorism, executes actively evacuation and control system issues the function of alarming and show the detailed flight parameter of aircraft, use
To remind user to avoid by operating client.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only one recorded in the present invention
A little embodiments are also possible to obtain other drawings based on these drawings for those of ordinary skill in the art.
Fig. 1 is a kind of flow chart of unmanned plane hedging method described in the embodiment of the present invention；
Fig. 2 is client end interface design diagram described in the embodiment of the present invention；
Fig. 3 is alert interface schematic diagram described in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of unmanned plane avoiding device described in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of unmanned plane avoiding system described in the embodiment of the present invention；
Fig. 6 is client end interface architecture diagram described in the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
Fig. 1 is a kind of flow chart of unmanned plane hedging method described in the embodiment of the present invention.
Shown in Figure 1, a kind of unmanned plane hedging method includes:
S101: the flight parameter based on ADS-B signal acquisition aircarrier aircraft；
S103: the location information of current unmanned plane is obtained by locating module；
S105: go out the phase of the unmanned plane Yu the aircarrier aircraft with the positional information calculation according to the flight parameter
It adjusts the distance；
S107: the relative distance is compared with preset threshold, obtains a comparison result；
S109: when the comparison result is that the relative distance exceeds the preset threshold, according to default avoidance strategy
Active evacuation is carried out to the aircarrier aircraft.
In step s101, the flight parameter based on ADS-B signal acquisition aircarrier aircraft.Wherein, ADS-B signal is to be based on
Civil Aviation ATM system, i.e. ADS-B, the system can automatically receive or broadcast to the ground automatically the flight number of aircraft, speed, position
Set height, number of registration, the flight parameters such as answer back code.In step s 103, the position of current unmanned plane is obtained by locating module
Information.Locating module in this step can realize that Beidou satellite alignment system is to pass through satellite using Beidou positioning module
The time difference that location receiver is reached by the different satellite-signals of measurement determines at a distance from satellite to realize come measuring receiver
Position.Satellite encloses earth orbital operation high in the air, and any time place ground can receive the letter of the satellite more than 4
Number.The satellite positioning signal that user terminal receives contains satellite orbital position and signal transmission time, when user terminal receives
More than 4 satellites signal when, can list about receiver location, satellite position, the equation group of signal propagation delay time, from side
Cheng Zuzhong can solve the location of user terminal.In step s105, according to the flight parameter and the location information
Calculate the relative distance of the unmanned plane Yu the aircarrier aircraft；According to the flight ginseng for the aircarrier aircraft that above-mentioned two step obtains
Several and unmanned plane location information calculates the relative distance of unmanned plane Yu the aircarrier aircraft, at the same time in this step
Pass through the flight course and flying speed of the available aircarrier aircraft of the flight parameter of aircarrier aircraft and the position letter of unmanned plane
Breath.In step s 107, the relative distance is compared with preset threshold, obtains a comparison result.In this step, lead to
One preset threshold of setting is crossed, which should be the safe distance for taking aircarrier aircraft and unmanned plane, when setting, not only
The safe distance for considering aircarrier aircraft and unmanned plane will not only consider real-time safe distance, also to examine when setting
Consider the course of aircarrier aircraft, the course and speed of speed and unmanned plane.S109: in the comparison result beyond described default
When threshold value, active evacuation is carried out to the aircarrier aircraft according to default avoidance strategy.In the present embodiment, primary evacuation is to pass through
Unmanned plane independently avoids, because the evacuation mode is most directly quick, inartificial factor is wherein, it is therefore desirable to formulate evacuation
Strategy, so that unmanned plane avoids the generation of deviation from voyage route event rapidly far from aircarrier aircraft.
In the technical scheme of this embodiment, it by obtaining the flight parameter of aircarrier aircraft, and is obtained by locating module
Take unmanned plane location information, with this, by the preset threshold of setting safety, relative distance between aircarrier aircraft and unmanned plane
When less than the preset threshold, by avoidance strategy, the aircarrier aircraft so that unmanned plane speeds away is realized and is actively avoided.
As preferred embodiment, the default avoidance strategy may include: to judge the unmanned plane and the civil aviaton
The height relationships of aircraft, and obtain a judging result；It is the unmanned plane under the aircarrier aircraft in the judging result
Side, is controlled the unmanned plane and is fallen with the first pre-set velocity；It is the unmanned plane in the aircarrier aircraft in the judging result
Top, control the unmanned plane and carry out first time evacuation, the first time evacuation are as follows: the unmanned plane is with the second pre-set velocity
Perpendicular to the heading flight of the aircarrier aircraft.
Specifically, aircarrier aircraft flying speed is fast, mobility is poor；Unmanned plane during flying speed is slow, maneuverability.Cause
This, leaves time and inadequate of unmanned plane evacuation, or even only tens seconds time for.Therefore, formulation one is effective
Evacuation algorithm just seems particularly significant.Aircarrier aircraft after take off, can generally climb rapidly, therefore unless attached in airport security area
Closely, the flying height of aircarrier aircraft is generally not less than 500m, and unmanned plane height does not exceed 500m generally.Therefore, it is preferable to
Evacuation mode be exactly emergency drop-down, the difference in height of a safety is pulled open with aircarrier aircraft.Unmanned plane falling speed can be light
Ground is more than 10m/s, several hundred meters of Safe Vertical Distance can be pulled open in tens seconds, it is sufficient to ensure the safety of aircarrier aircraft.When
When the flying height of unmanned plane is higher than airline carriers of passengers (special circumstances), civil aviaton visitor cannot be avoided with the mode of emergency drop-down at this time
Machine should issue alarm for aviation safety at this time, artificially be handled by unmanned operators.In addition in vertical direction, unmanned plane is also
It can make fast reserve in the horizontal direction, a kind of arbitrary way as emergency drop-down.By taking big boundary spirit 4 as an example, maximum is flat
Rapidly degree is 48km/h, evacuation movement can be done perpendicular to the direction of aircraft flight, to ensure flight safety.More than, therefore formulate
Avoidance strategy is as follows:
1. unmanned plane emergency drop-down immediately, the difference in height of a safety is pulled open with aircarrier aircraft.
2. unmanned plane is promptly put down towards the direction perpendicular to aircraft flight immediately flies evacuation aircraft.
3. issuing alarm when the programmed decision situation cannot be automatically performed evacuation, being intervened by unmanned operators, complete
Evacuation.
By above avoidance strategy, unmanned plane can safely avoid airline carriers of passengers, avoid generating security risk.
Further, after first time evacuation, the unmanned plane hedging method further include: according to preset alarm plan
Slightly judge whether the first time evacuation reaches default evacuation effect；The default evacuation effect is not reached in first time evacuation
When, alert.
The present embodiment is based on upper one embodiment, unmanned plane complete it is primary actively avoid after, system again according to
Current aircarrier aircraft flight information, the location information of unmanned plane and the course of aircarrier aircraft, speed, the course of unmanned plane,
The information such as speed assess the active hedging effect of first time, fail in active hedging so that unmanned plane is reached with aircarrier aircraft
It to the requirement of a safe distance, needs to start alert program, specifically, by alert, which is divided into
Two parts, first part are by reminding control side to carry out hedging operation in unmanned pusher side sound-light alarm, and second part is to send
Warning message reminds operator to carry out hedging operation to the client for controlling side.
Supplement of the present embodiment as first time evacuation, first time evacuation fail so that unmanned plane and aircarrier aircraft away from
When from reaching a safety standard, start alert program.
More specifically, the starting of alert program, it is also desirable to according to an alarm strategy, currently, the flight of civilian unmanned plane
Upper height limit is 1000m, and few people can fly to unmanned plane 1000m or more, therefore aircraft of the flying height greater than 1500m is
Safety, unmanned plane does not interfere with the flight safety of aircarrier aircraft；What is be affected by unmanned plane is to be in rank of landing of taking off
The aircraft of section, this stage aircraft altitude is low, the unmanned plane safe flight system based on Automatic dependent surveillance broadcast (ADS-B)
It is poor to design 19 mobility, once it is influenced by unmanned plane, it is easy to it causes the accident.So alarm strategy is primarily directed to being in
Take off the aircraft of landing.By taking the terminal airspace situation of Beijing as an example, it is restricted airspace in Beijing's tricyclic, forbids all aircrafts
(containing military secret without permission) enters, so, the aircraft that (PEK) takes off from the Capital Airport is diversion from Beijing Suburban without exception.By head
All aircrafts of field takeoff, in the turning of 90 degree of Yi Zhuang overhead, head direct for the yellow village in Daxing, movement speed is very after the flight of East 5th Ring Road
Fastly, the alarm phase is very short, and individually this parameter triggering alarm at a distance from aircraft by unmanned plane has significant limitation,
Under normal circumstances, aircraft is along fixed airline operation, although flight can be late sometimes, course line be it is fixed, no
It can take a short cut in the sky because of in a hurry.So judging whether unmanned plane can be to civil aviaton in conjunction with the usually flight path of aircraft
Passenger plane has an impact, undoubtedly can be more accurate.The flight path of aircraft is disclosed data, can be from nets such as fligtradar24
It stands acquisition.Therefore, it is as follows to formulate alarm rule:
1. aircraft flight height is greater than 1500m, no matter do not alarm apart from how close
2. aircraft flight height is less than 1500 meters, and when being less than 20km with the linear distance of unmanned plane, alarm.
3. aircraft flight height is less than 1500 meters, and when the course line of the flight is by near unmanned plane positioning site,
No matter both sides' linear distance how far, alarm.
4. course line nearby defines: the nearest linear distance in satellite positioning site and aircraft history course line is less than 10km,
And it is defined as near course line.
As preferred embodiment, the alert includes: that control warning device issues sound-light alarm, described
Sound-light alarm is used to prompt the operator of the unmanned plane to carry out active avoiding operation；Warning message is sent to the operator's
Client, the display alarm information on the page of the client.
More specifically, when having reached preset alarm, may influence whether the people when unmanned plane is excessively close apart from aircarrier aircraft
Navigate aircraft flight when, automatic trigger alarm, the buzzer on unmanned plane issues alarm sound, meanwhile, may be impacted fly
Icon of the machine on map becomes red, shown in Figure 3.This aircraft is at present apart from unmanned plane 13.7Km, height 1340m, boat
To 10 degree of south by west, flying speed 443km/h, by this trend, the aircraft will arrive in testing location overhead by plane after 80s, according to report
Police regulations then trigger alarm, and on the client, airplane icon reddens, and it is dynamic that buzzer warning prompts unmanned operators to carry out evacuation
Make.If current airspace has aircraft to issue state of emergency signal, airplane icon sparkles automatic red blue flash, reminds unmanned operators
Decline evacuation immediately, and issue alarm.
Preferably, the transmission warning message is shown on the page of the client to the client of the operator
Warning message includes: warning message described in real-time reception；By calling unmanned plane and institute described in the real-time dynamic refresh of Google Maps
The state of flight of aircarrier aircraft is stated, and the Icon Color of the unmanned plane is become red by white；According to the default evacuation
Policy calculation obtains and presents measures to keep clear, and the measures to keep clear is for prompting the operator to execute the measures to keep clear.
As preferred embodiment, entire client is presented using form web page, is operated in the browser for supporting JS.
Client end interface is as shown in Figure 2.Right side blue box part shows that the aircraft detail parameters currently chosen, right side yellow frame portion point are aobvious
Show current all aircraft parameters.Left part is map area, and map central hollow dot represents the position of current unmanned plane, ground
Canescence aircraft on figure is the position of all aircrafts of current air, and aircraft flight path is gone out by blue line drawing.Institute in webpage
Some Refresh Datas are all made of AJAX technology, i.e. data real-time update but without refreshing entire webpage.It is opened automatically after device power
Open Wi-Fi connection and Web server.IP address is inputted in a browser, opens client main interface, and unmanned plane present position is silent
Think that the center of map load, unmanned plane present position are indicated on map with hollow ring, it is concentric there are three what is dissipated around
Annulus, for demarcating the position of unmanned plane and airline carriers of passengers.All aircarrier aircrafts use airplane icon on mapIt marks, mouse
Mark, which rolls, can scale map.The monitoring information of all aircrafts of list display current air in the client lower right corner.Mouse-click
Airplane icon on map can carry out aircraft continuing tracking, and real-time track is gone out with blue line drawing, while on the right side of client
Upper angle shows the details of the airplane.When airplane icon is canescence, represents unmanned plane and do not interfere with this at present
Airplane is safe.As the flight number of aircraft is shown in the upper right corner with overstriking black matrix.The flight number ＂ CES2120 ＂ of figure as above.
In the sky (containing secondary radars systems such as ADS-B) in control system, airline belonging to aircraft is indicated with three codes, and
In the flight number and air ticket for indicating the affiliated airline of aircraft on air ticket with two codes, therefore showing here or fly the APP such as normal standard
The flight number of upper display is not quite similar.Three word code of some airlines is as shown in table 4-1.
The three word code table of comparisons of table 4-1 airline
When unmanned plane is excessively close apart from aircarrier aircraft, may influence whether aircarrier aircraft flight, automatic trigger alarm, nobody
Buzzer on machine issues alarm sound, meanwhile, the icon of aircraft that may be impacted on map becomes red, such as Fig. 3
It is shown.
This aircraft is at present apart from unmanned plane 13.7Km, height 1340m, and 10 degree of course south by west, flying speed 443km/h,
By this trend, the aircraft will arrive in testing location overhead by plane after 80s, trigger and alarm according to alarm rule, and airplane icon reddens,
Buzzer warning prompts unmanned operators to carry out evacuation movement.If current airspace has aircraft to issue state of emergency signal, fly
Machine icon sparkles automatic red blue flash, and unmanned operators is reminded to decline evacuation immediately, and issues alarm.
Fig. 4 is the structural schematic diagram of unmanned plane avoiding device described in the embodiment of the present invention.
Shown in Figure 4, a kind of unmanned plane avoiding device includes: to obtain module 50, for being based on the ADS-B signal acquisition people
The flight parameter of boat aircraft；Locating module 52, for obtaining the location information of current unmanned plane；Computing module 54 is used for basis
The flight parameter and the positional information calculation go out the relative distance of the unmanned plane Yu the aircarrier aircraft；Comparison module
56, for the relative distance to be compared with preset threshold, obtain a comparison result；Module 58 is avoided, for described
When comparison result is that the relative distance exceeds the preset threshold, the aircarrier aircraft is led according to default avoidance strategy
Dynamic evacuation.
Preferably, the evacuation module 58 includes: first judgment module (not shown), for judge the unmanned plane with
The height relationships of the aircarrier aircraft, and obtain a judging result；First control module (not shown), in the judgement
As a result it is the unmanned plane in the lower section of the aircarrier aircraft, controls the unmanned plane and fallen with the first pre-set velocity；Second control
Molding block (not shown), for being the unmanned plane in the top of the aircarrier aircraft in the judging result, described in control
Unmanned plane carries out first time evacuation, the first time evacuation are as follows: the unmanned plane is with the second pre-set velocity perpendicular to the civil aviaton
The heading of aircraft flies.
Preferably, the unmanned plane avoiding device further include: the second judgment module (not shown), for according to default
Alarm strategy judges whether the first time evacuation reaches default evacuation effect；Alarm module (not shown), for described
When evacuation does not reach the default evacuation effect for the first time, alert.
Preferably, the alarm module includes: sound and light alarm module (not shown), for controlling warning device sending sound
Light alarm, the sound-light alarm are used to prompt the operator of the unmanned plane to carry out active avoiding operation；Sending module is (in figure not
Show), for sending the client of warning message to the operator, the display alarm information on the page of the client.
A kind of unmanned plane avoiding system, which is characterized in that including above-mentioned unmanned plane avoiding device；With the unmanned plane hedging
The client of device cooperating, the client is for warning message described in real-time reception；By calling Google Maps real-time
The state of flight of unmanned plane described in dynamic refresh and the aircarrier aircraft, and the Icon Color of the unmanned plane is become by white
It is red；It is calculated and presents measures to keep clear according to the default avoidance strategy, the measures to keep clear is for prompting the operation
Person executes the measures to keep clear.
Fig. 5 is the structural schematic diagram of unmanned plane avoiding system described in the embodiment of the present invention；It is shown in Figure 5, client
Belong in 68 range of earth station, ADS-B60, ARM development board 62, buzzer and alarm lamp 64, Beidou positioning module 66 are together
Constitute unmanned plane avoiding device.
More specifically, ARM development board 62 selects the full will double-core A20 development board that can run Debain linux system,
The onboard resource of ARM development board is as follows:
CPU 1.2 Ghz Quad-Core ARM Cortex A64
GPU MALI-400 MP2 500MHz
Memory 2GB DDR3 SDRAM (GPU is shared)
Store MicroSD (maximum 64GB)/SATA3 (maximum 2048GB)
Network 1000Mbps Realtek RTL8211E
802.11 b/g/n Botong AP6212 network interface card of network interface card WiFi
Bluetooth Botong AP6212 bluetooth 4.0
Power supply 5V 2A DC
USB USB 2.0 GPIO 40 Pins:
GPIO,UART,I2C,I2S,PWM
In SD card, development board desktop passes through 3389 ports (remote desktop) crossfire to exploitation for Debian system image burning
On machine.After development board powers on, Debain automated system operation simultaneously connects network, opens 3389 ports.Computer runs mstsc at this time
Order inputs development board IP, can show development board desktop.Meanwhile Debain system defaults unlatching SSH Telnet simultaneously,
The Debain system on development board can be operated in the way of order line on computers using ssh clients such as PuTTY
System.
RTL2832 is a chip model of Realtek company.This chip range of receiving is wide, is widely used in various soft
In part radio application, there is cheap, the good advantage of effect.Its frequency range be 24MHz-1766MHz, can by signal from
Untreated ground IO is sampled at antenna, and is directly exported by USB2.0 interface to ARM development board, soft on ARM by operating in
The demodulating and decoding of part completion signal.Realtek company provides the driver C language based on USB interface library usblib exploitation
Source code rtllib.Driver is compiled and installed on ARM development board, then connects RTL2832 and ARM development board,
Using lsusb order in Debain system, can inspection system correctly identify RTL2832, which works normally.
Beidou positioning module 66 uses UM220 locating module, for positioning the position of unmanned plane in real time.
Beidou positioning module reading data writes the data that program is transmitted come read module using python language.With other
Language not unlike, python without compiling, using explain execute by the way of run.And Python has various can use
Base resource, can very easily be developed.The NMEA0183 message format of binding modules output, data read code are write
It is as follows:
The software of ADS-B demodulation software SDR demodulation ADS-B is write using C++, and for details, see the appendix 1 for specific key code.
It is compiled under Debain system using Cmake order, is installed using make order.
Client software design, overall architecture design ground station software and use B/S framework, i.e., run in Debain system
One Web server, user access webpage by browser, and all data informations show on webpage, transport on Web server
Row JavaSc ript script that information is presented to user.By calling Google Maps, aircraft is intuitively shown on map
Come, and constantly refreshes the detail parameters of display aircraft；The position of unmanned plane is indicated out on map, when unmanned plane is apart from the people
When the aircraft that navigates is excessively close, webpage will notify user with distinguishing mark.Specific block architecture diagram is as shown in Figure 6.
Hardware JSON data interaction JavaScript and ADS-B demodulation software, Beidou module read the data interaction of software
Realized by JSON.ADS-B demodulation software and Beidou module read software and pass through JSO N using 30003 and 30006 ports
Data are exchanged to the JavaScript script operated on Web server.ADS-B demodulation software JSON is as follows:
{78027C,S,412,CCA4177,31125,440,006,39.727,116.654,6,109,4}
{78090F,S,6560,CCA180,5300,162,354,39.716,116.630,5,137,3}
{780CA5,S,4010,CES2103,5425,225,134,39.666,116.466,7,393,1}
{780726,S,7076,CHB6247,35100,458,019,40.024,116.959,6,669,0}
{780BD8,S,1217,CSN6219,6750,244,172,39.905,116.758,9,193,0}
From left to right successively are as follows: ICAO number, answering machine mode, answering machine coding, flight number, flying height (foot),
Flying speed (mile/h), flight course, latitude, longitude, signal quality, received data packet count；With including greatly between every a line
Number separate.
It is an Online Map website that Google Maps, which call Google Maps, and equally, google map also provides crowd
More API can use google map and develop various applications.In homepage index.html, loaded using following code
Google Maps JavaScript API:
After loading API, function provided by API can be used directly in JavaScript.
Following code will load google map and initialize map setting:
After map load, the position of aircraft, the information such as course, related JavaScript code need to be also shown on map
It is as follows:
Client end interface is designed entire client and is presented using form web page, is operated in the browser for supporting JS.Client
Hold interface as shown in Figure 2.Right side blue box part shows the aircraft detail parameters currently chosen, and right side yellow frame portion point display is worked as
Preceding all aircraft parameters.Left part is map area, map central hollow dot represent current unmanned plane based on broadcast type
18 position of design of the unmanned plane safe flight system of automatic dependent surveillance (ADS-B), the canescence aircraft on map are to work as
The position of preceding aerial all aircrafts, aircraft flight path are gone out by blue line drawing.All Refresh Datas are all made of AJAX in webpage
Technology, i.e. data real-time update but without refreshing entire webpage.
By field test, airborne equipment provided by the invention can scan the aircraft of neighbouring 50km range and can be in real time
Track the position height and other flight parameters of aircraft；Unmanned plane can successfully be navigated to and be shown on map.Work as nothing
When the man-machine hypotelorism from airline carriers of passengers, it can significantly be marked on map and unmanned plane operation is reminded by buzzer warning
Member, effect are obvious.The client end interface is presented using form web page, does not have to installation specific software, can be in computer, mobile phone, Ipad
Upper good operation, it is easy to use.UAV system machine equipment is small in size, light-weight, can be easily hung at the undercarriage of unmanned plane
On, it is easy to use.
It is above that certain exemplary embodiments of the invention are only described by way of explanation, undoubtedly, for ability
The those of ordinary skill in domain without departing from the spirit and scope of the present invention can be with a variety of different modes to institute
The embodiment of description is modified.Therefore, above-mentioned attached drawing and description are regarded as illustrative in nature, and should not be construed as to the present invention
The limitation of claims.
Claims (10)
1. a kind of unmanned plane hedging method characterized by comprising
Flight parameter based on ADS-B signal acquisition aircarrier aircraft；
The location information of current unmanned plane is obtained by locating module；
Go out the relative distance of the unmanned plane Yu the aircarrier aircraft according to the flight parameter and the positional information calculation；
The relative distance is compared with preset threshold, obtains a comparison result；
When the comparison result is that the relative distance exceeds the preset threshold, according to default avoidance strategy to the civil aviaton
Aircraft carries out active evacuation.
2. unmanned plane hedging method according to claim 1, which is characterized in that the default avoidance strategy includes:
Judge the height relationships of the unmanned plane Yu the aircarrier aircraft, and obtains a judging result；
It is the unmanned plane in the lower section of the aircarrier aircraft in the judging result, controls the unmanned plane with the first default speed
Degree falls；
It is the unmanned plane in the top of the aircarrier aircraft in the judging result, controls the unmanned plane and keep away for the first time
It allows, the first time evacuation are as follows: heading of the unmanned plane with the second pre-set velocity perpendicular to the aircarrier aircraft flies.
3. unmanned plane hedging method according to claim 2, which is characterized in that described after first time evacuation
Unmanned plane hedging method further include:
Judge whether the first time evacuation reaches default evacuation effect according to preset alarm strategy；
When the first time, evacuation did not reached the default evacuation effect, alert.
4. unmanned plane hedging method according to claim 3, which is characterized in that the alert includes:
It controls warning device and issues sound-light alarm, the sound-light alarm is used to prompt the operator of the unmanned plane actively keep away
Allow operation；
Send client of the warning message to the operator, the display alarm information on the page of the client.
5. unmanned plane hedging method according to claim 4, which is characterized in that the transmission warning message to the operation
The client of person, display alarm information includes: on the page of the client
Warning message described in real-time reception；
By calling the state of flight of unmanned plane and the aircarrier aircraft described in the real-time dynamic refresh of Google Maps, and by the nothing
Man-machine Icon Color becomes red by white；
It is calculated and presents measures to keep clear according to the default avoidance strategy, the measures to keep clear is for prompting the operator
Execute the measures to keep clear.
6. a kind of unmanned plane avoiding device characterized by comprising
Module is obtained, for the flight parameter based on ADS-B signal acquisition aircarrier aircraft；
Locating module, for obtaining the location information of current unmanned plane；
Computing module, for going out the unmanned plane and the aircarrier aircraft according to the flight parameter and the positional information calculation
Relative distance；
Comparison module obtains a comparison result for the relative distance to be compared with preset threshold；
Module is avoided, is used for when the comparison result is that the relative distance exceeds the preset threshold, according to default evacuation
Strategy carries out active evacuation to the aircarrier aircraft.
7. unmanned plane avoiding device according to claim 1, which is characterized in that the evacuation module includes:
First judgment module for judging the height relationships of the unmanned plane Yu the aircarrier aircraft, and obtains a judging result；
First control module, for being the unmanned plane in the lower section of the aircarrier aircraft in the judging result, described in control
Unmanned plane is fallen with the first pre-set velocity；
Second control module, for being the unmanned plane in the top of the aircarrier aircraft in the judging result, described in control
Unmanned plane carries out first time evacuation, the first time evacuation are as follows: the unmanned plane is with the second pre-set velocity perpendicular to the civil aviaton
The heading of aircraft flies.
8. unmanned plane avoiding device according to claim 7, which is characterized in that further include:
Second judgment module, for judging whether the first time evacuation reaches default evacuation effect according to preset alarm strategy；
Alarm module is used for when the first time, evacuation did not reached the default evacuation effect, alert.
9. unmanned plane avoiding device according to claim 8, which is characterized in that the alarm module includes:
Sound and light alarm module issues sound-light alarm for controlling warning device, and the sound-light alarm is for prompting the unmanned plane
Operator carry out active avoiding operation；
Sending module shows report for sending the client of warning message to the operator on the page of the client
Alert information.
10. a kind of unmanned plane avoiding system, which is characterized in that kept away including the unmanned plane of any one described in claim 6-9
Dangerous device；
With the client of the unmanned plane avoiding device cooperating, the client is used for
Warning message described in real-time reception；
By calling the state of flight of unmanned plane and the aircarrier aircraft described in the real-time dynamic refresh of Google Maps, and by the nothing
Man-machine Icon Color becomes red by white；
It is calculated and presents measures to keep clear according to the default avoidance strategy, the measures to keep clear is for prompting the operator
Execute the measures to keep clear.
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